摘要：
为解决新能源发电与负荷的随机波动引起的直流母线以及负荷侧直流电压的波动,提出一种虚拟直流电机控制技术。针对直流母线侧与负荷侧将虚拟直流电机控制技术分为虚拟直流发电机(virtual direct current generator,VDG)技术与虚拟直流电动机(virtual direct current motor,VDM)技术。虚拟直流电机控制技术将直流电机的机械方程与电动势平衡方程应用到控制算法当中,模拟直流电机的惯量特性与阻尼特性,使得在新能源发电波动以及负荷突变时直流母线电压与负荷侧电压仍能保持稳定。建立虚拟直流电机控制的小信号模型,分析系统的稳定性。为有效应对负载突变时直流母线电压跌落的问题,将扩张状态观测器(extended state observer,ESO)引入至虚拟直流发电机控制中。在PSCAD/ EMTDC环境下进行仿真研究,仿真结果证明所提控制方法的正确性和有效性。该文所提控制方法为解决新能源与负荷随机波动所造成的电压波动问题提供了新的思路。
摘要：
The appearance of the inside of a running pressure flow pipe, when viewed through a photo-lens, is often blurred and deformed by the influence of fluid pressure, temperature and type. This study proposes an image pre-processing method based on self-scoring restoration and self-calibration to solve the problems and make it adaptable to the complicated environments inside the pipe. The method consists of two stages, in the first stage, a restoration method based on Wiener filter is used to work with the defined merit functions to deal with the degenerated images, in the second stage, two images taken from different depths inside the pipe are used to calculate the distortion parameters according to the matching points obtained from those two pictures. The experiment results show the proposed method performs well in clarity and contrast and removes the distortion effectively.
摘要：
According to the real condition of the substation inspection robot provided a vision-based navigation control method for substation inspection robot can be run in the complex road environment, with strong anti-interference, implementation of simple, good stability and high precision in this paper. In the rational planning of substation robot inspection path, making robots able to inspect substation equipment fully. Robots get information of navigation path through the visual, using HSV color space model effectively solve the interference of illumination in the image, then calculate the current offset of the center, and sent it to the controller, adjusting left and right wheels with differential speed make the robot running stably.
作者：
Zhong, Liqiang*;Fan, Shaosheng;Li, Ruoyun;Yang, Di
作者机构：
[Zhong, Liqiang] Elect Power Res Inst Guangdong Power Grid Co Ltd, Guangzhou 510080, Guangdong, Peoples R China.;[Yang, Di; Li, Ruoyun; Fan, Shaosheng] Changsha Univ Sci & Technol, Coll Elect & Informat Engn, Changsha, Hunan, Peoples R China.
会议名称：
International Conference on Electronic Industry and Automation (EIA)
会议时间：
JUN 23-25, 2017
会议地点：
Suzhou, PEOPLES R CHINA
会议主办单位：
[Zhong, Liqiang] Elect Power Res Inst Guangdong Power Grid Co Ltd, Guangzhou 510080, Guangdong, Peoples R China.^[Fan, Shaosheng;Li, Ruoyun;Yang, Di] Changsha Univ Sci & Technol, Coll Elect & Informat Engn, Changsha, Hunan, Peoples R China.
会议论文集名称：
Advances in Intelligent Systems Research
关键词：
sensor fusion;kalman filter;least square method;interest area;infrared detection;torque coefficient control
摘要：
A new control strategy and its real-time implementation were presented for a power transmission line bolt tightening robot. In order to overcome the influence of the wind, a prediction algorithm of multi-sensor information fusion optimal Kalman filter is adopted to predict the trajectory of the camera. The trajectory of the bolt uses a least squares method based on the interest area. Torque coefficient control method was presented to assure the conformity of the pre-tightening force of different screw threads. Experimental results show that the proposed bolt aligning and tightening strategy can achieve the work timely and have high efficiency.
